public NeuralRobot(BasicNetwork network, bool track, Position source, Position destination)
{
_hStats = new NormalizedField(NormalizationAction.Normalize, "Heading", 359, 0, .9, -.9);
_CanGoStats = new NormalizedField(NormalizationAction.Normalize, "CanGo", 1, 0, 0.9, -0.9);
_track = track;
_network = network;
sim = new RobotSimulator(source, destination);
}
public RobotSimulator(Position source, Position destination)
{
Success = -10000;
Fuel = 9000;
Seconds = 0;
Altitude = 100000;
Rests = 0;
Turns = 0;
Position = new double[2] {source.X, source.Y};
Destination = new double[2] {destination.X, destination.Y};
StartPosition = new double[2] {source.X, source.Y};
CurrentDirection = CommandDirection.MoveForward;
DistanceToDestination = CalculateDistance();
LastDistance = DistanceToDestination;
PreviousDistance = LastDistance;
StartDistance = DistanceToDestination;
UpdateHeading();
}
private void Simulation_PositionChanged(object sender, Position position)
{
var p = AddELocation(false);
p.Fill = new SolidColorBrush(Color.FromRgb(200, 200, 200));
p.Stroke =new SolidColorBrush(Color.FromRgb(200, 200, 200));
var w = Canvas.ActualWidth / SourceData.Warehouse.GridWidth;
var h = Canvas.ActualHeight / SourceData.Warehouse.GridLength;
Canvas.SetLeft(p, position.X * ((int)(Canvas.ActualHeight / SourceData.Warehouse.GridWidth) - 1));
Canvas.SetTop(p, position.Y * ((int)(Canvas.ActualWidth / SourceData.Warehouse.GridLength) - 1));
Canvas.Children.Add(p);
Canvas.UpdateLayout();
DoEvents();
}
private void Canvas_MouseLeftButtonUp(object sender, MouseButtonEventArgs e)
{
var pos = e.GetPosition(Canvas);
var x = (int)pos.X / ((int)(Canvas.ActualHeight / SourceData.Warehouse.GridWidth) - 1);
var y = (int)pos.Y / ((int)(Canvas.ActualWidth / SourceData.Warehouse.GridLength) - 1);
var p = AddLocation(false);
switch (SourceData.ModeMap)
{
case MapMode.ChargeMode:
p.Fill = new SolidColorBrush(Color.FromRgb(200, 0, 0));
break;
case MapMode.ObstructionMode:
p.Fill = new SolidColorBrush(Color.FromRgb(100, 100, 100));
break;
case MapMode.PersonMode:
p.Fill = new SolidColorBrush(Color.FromRgb(128, 100, 50));
break;
case MapMode.PickupMode:
p.Fill = new SolidColorBrush(Color.FromRgb(138, 43, 226));
break;
case MapMode.ShipMode:
p.Fill = new SolidColorBrush(Color.FromRgb(127, 255, 0));
break;
case MapMode.StorageMode:
p.Fill = new SolidColorBrush(Color.FromRgb(165, 42, 42));
break;
case MapMode.PathMode:
p.Fill = new SolidColorBrush(Color.FromRgb(0, 0, 200));
break;
}
if (SourceData.Warehouse.Positions == null)
SourceData.Warehouse.Positions = new ObservableCollection<Position>();
var l =
(from loc in SourceData.Warehouse.Positions where loc.X == x && loc.Y == y select loc).FirstOrDefault();
if (l != null)
{
l.MapMode = SourceData.ModeMap;
}
else
{
l = new Position(x, y) { MapMode = SourceData.ModeMap };
SourceData.Warehouse.Positions.Add(l);
}
var col = DataService.DataBase.GetCollection<Rover.Models.Warehouse>("Warehouse");
SafeModeResult safeModeResult = col.Save(SourceData.Warehouse);
Canvas.SetLeft(p, x * ((int)(Canvas.ActualHeight / SourceData.Warehouse.GridWidth) - 1));
Canvas.SetTop(p, y * ((int)(Canvas.ActualWidth / SourceData.Warehouse.GridLength) - 1));
Canvas.Children.Add(p);
}
public void RunNetwork(Guid id)
{
BasicNetwork network = null;
var fn = id.ToString();
var net = DataService.GetCollectionQueryModel<NeuralNetwork>(Query.EQ("_id", id)).FirstOrDefault();
if (net != null)
{
SourceLocation = new Position(net.StartPosition.X, net.StartPosition.Y);
DestLocation = new Position(net.EndPosition.X, net.EndPosition.Y);
lock (RobotContol.NetworkLock)
{
var rawbytes = DataService.OpenFile(id);
File.WriteAllBytes(fn, rawbytes);
network = (BasicNetwork)EncogDirectoryPersistence.LoadObject(new FileInfo(fn));
}
var pilot = new NeuralRobot(network, true, SourceLocation, DestLocation);
SourceData.Simulation = pilot.sim;
DataContext = SourceData;
DrawMap();
SourceData.Simulation.PositionChanged += Simulation_PositionChanged;
pilot.ScorePilot();
File.Delete(fn);
}
DoEvents();
}
public void BuildNetwork(double slat, double slon, double lat, double lon)
{
string hostname = Dns.GetHostName();
SourceLocation = new Position(slat, slon);
DestLocation = new Position(lat, lon);
BasicNetwork network = CreateNetwork();
string fn = @"Robot_From" + slat + "_" + slon + "_To_" + lat + "_" + lon + ".net";
int chromosomes = 128;
IMLTrain train;
train = new MLMethodGeneticAlgorithm(() =>
{
BasicNetwork result = CreateNetwork();
((IMLResettable) result).Reset();
return result;
}, new RobotScore(), chromosomes);
int epoch = 1;
var scoresAverage = new List<double>();
double netavg = 0;
while (epoch <= chromosomes || train.Error <= 0)
{
GC.Collect();
Scores = new List<double>();
train.Iteration();
double average = GetitterationAverage();
scoresAverage.Add(average);
double avg = GetTrainAverage(scoresAverage);
//_ProgressQueue.Publish(new TaskProgressMessage
// {
// CurrentTime = DateTime.Now,
// PercentComplete = epoch,
// StartTime = _starttime,
// Status = TaskStatus.InProcess,
// TaskId = _taskid,
// MessageId = Guid.NewGuid(),
// TransmisionDateTime = DateTime.Now,
// Details =
// hostname + @" Epoch #" + epoch + @" Score:" + train.Error + @" Chromosomes: " + chromosomes
// }
// );
lock (NetworkLock)
{
if (train.Error > 0)
{
NeuralNetwork net =
Mds.GetCollectionQueryModel<NeuralNetwork>(Query.And(Query.EQ("StartPosition.X", slat),
Query.EQ("StartPosition.Y", slon),
Query.EQ("EndPosition.X", lat),
Query.EQ("EndPosition.Y", lon)))
.FirstOrDefault();
if (net == null)
net = new NeuralNetwork
{
EndPosition = new Position(lat, lon),
Id = Guid.NewGuid(),
StartPosition = new Position(slat, slon)
};
FileStream fs = File.Create(fn);
EncogDirectoryPersistence.SaveObject(fs, train.Method);
fs.Close();
MongoCollection<NeuralNetwork> col = Mds.DataBase.GetCollection<NeuralNetwork>("NeuralNetwork");
col.Save(net);
Mds.SaveFile(fn, net.Id);
File.Delete(fn);
}
}
epoch++;
if (epoch > (chromosomes/2) && train.Error <= 0)
{
chromosomes *= 2;
train = new MLMethodGeneticAlgorithm(() =>
{
BasicNetwork result = CreateNetwork();
((IMLResettable) result).Reset();
return result;
}, new RobotScore(), chromosomes);
epoch = 1;
}
netavg = avg;
if (chromosomes == 4096)
break;
}
_ProgressQueue.Publish(new TaskProgressMessage
{
CurrentTime = DateTime.Now,
PercentComplete = 100,
StartTime = _starttime,
Status = TaskStatus.Complete,
TaskId = _taskid,
MessageId = Guid.NewGuid(),
TransmisionDateTime = DateTime.Now,
Details = hostname
}
);
EncogFramework.Instance.Shutdown();
}
public void RunNetworks()
{
var reclocs = (from p in SourceData.Warehouse.Positions where p.MapMode == MapMode.PickupMode select p).ToArray();
var shiplocs = (from p in SourceData.Warehouse.Positions where p.MapMode == MapMode.ShipMode select p).ToArray();
var storelocs = (from p in SourceData.Warehouse.Positions where p.MapMode == MapMode.StorageMode select p).ToArray();
var chrlocs = (from p in SourceData.Warehouse.Positions where p.MapMode == MapMode.ChargeMode select p).ToArray();
var total = ((chrlocs.Length*reclocs.Length)*2) + ((chrlocs.Length*shiplocs.Length)*2) +
((chrlocs.Length*storelocs.Length)*2) + (reclocs.Length*storelocs.Length) + (storelocs.Length*shiplocs.Length);
Progress.Maximum = total;
Progress.Value = 0;
foreach (var cl in chrlocs)
{
SourceLocation = new Position(cl.X, cl.Y);
foreach (var l in reclocs.ToArray())
{
DestLocation = new Position(l.X, l.Y);
BuildNetwork(cl.X, cl.Y, l.X, l.Y);
Progress.Value += 1;
txtProgress.Text = Progress.Value.ToString() + "/" + total.ToString();
DoEvents();
}
foreach (var l in shiplocs.ToArray())
{
DestLocation = new Position(l.X, l.Y);
BuildNetwork(cl.X, cl.Y, l.X, l.Y);
Progress.Value += 1;
txtProgress.Text = Progress.Value.ToString() + "/" + total.ToString();
DoEvents();
}
foreach (var l in storelocs.ToArray())
{
DestLocation = new Position(l.X, l.Y);
BuildNetwork(cl.X, cl.Y, l.X, l.Y);
Progress.Value += 1;
txtProgress.Text = Progress.Value.ToString() + "/" + total.ToString();
DoEvents();
}
}
foreach (var cl in reclocs)
{
SourceLocation = new Position(cl.X, cl.Y);
foreach (var l in chrlocs.ToArray())
{
DestLocation = new Position(l.X, l.Y);
BuildNetwork(cl.X, cl.Y, l.X, l.Y);
Progress.Value += 1;
txtProgress.Text = Progress.Value.ToString() + "/" + total.ToString();
DoEvents();
}
foreach (var l in storelocs.ToArray())
{
DestLocation = new Position(l.X, l.Y);
BuildNetwork(cl.X, cl.Y, l.X, l.Y);
Progress.Value += 1;
txtProgress.Text = Progress.Value.ToString() + "/" + total.ToString();
DoEvents();
}
}
foreach (var cl in storelocs)
{
SourceLocation = new Position(cl.X, cl.Y);
foreach (var l in chrlocs.ToArray())
{
DestLocation = new Position(l.X, l.Y);
BuildNetwork(cl.X, cl.Y, l.X, l.Y);
Progress.Value += 1;
txtProgress.Text = Progress.Value.ToString() + "/" + total.ToString();
DoEvents();
}
foreach (var l in shiplocs.ToArray())
{
DestLocation = new Position(l.X, l.Y);
BuildNetwork(cl.X, cl.Y, l.X, l.Y);
Progress.Value += 1;
txtProgress.Text = Progress.Value.ToString() + "/" + total.ToString();
DoEvents();
}
}
}
private void UpdateHeading()
{
var src = new Position(Position[0], Position[1]);
var dest = new Position(Destination[0], Destination[1]);
var calc = new PositionBearingCalculator(new AngleConverter());
Heading = calc.CalculateBearing(src, dest);
}
protected virtual void OnPositionChanged1(Position args)
{
OnPositionChanged handler = PositionChanged;
if (handler != null) handler(this, args);
}
